{ "cells": [ { "cell_type": "markdown", "id": "77d407ec", "metadata": {}, "source": [ "# Section 4-6 - Venus SmallSat Aerocapture - Guidance Scheme" ] }, { "cell_type": "code", "execution_count": 1, "id": "21d94030", "metadata": {}, "outputs": [], "source": [ "from AMAT.planet import Planet\n", "from AMAT.vehicle import Vehicle" ] }, { "cell_type": "code", "execution_count": 2, "id": "52cdc706", "metadata": {}, "outputs": [], "source": [ "# Create a planet object\n", "planet=Planet(\"VENUS\")\n", "planet.h_skip = 150000.0\n", "\n", "# Load an nominal atmospheric profile with height, temp, pressure, density data\n", "planet.loadAtmosphereModel('../../../atmdata/Venus/venus-gram-avg.dat', 0 , 1 ,2, 3)\n", "\n", "\n", "# Set up a vehicle object\n", "vehicle1=Vehicle('SmallSat1', 37, 20, 0.0, 1.767, 0.0, 0.35, planet)\n", "vehicle1.setInitialState(150.0,-6.22,23.16,10.8191,89.9982,-5.00,0.0,0.0)\n", "vehicle1.setSolverParams(1E-6)\n", "vehicle1.setDragModulationVehicleParams(20, 7.5)" ] }, { "cell_type": "markdown", "id": "88481b7c", "metadata": {}, "source": [ "Find the corridor bounds to select a target nominal EFPA for a nominal Mars atmosphere, with inertial correction." ] }, { "cell_type": "code", "execution_count": 3, "id": "933bec22", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Target apoapis: 2000 km\n", "----------------\n", "-5.530822996573988 1.0\n", "-5.109830083616544 1.0\n", "----------------\n" ] } ], "source": [ "underShootLimit, exitflag_us = vehicle1.findUnderShootLimitD2(2400.0, 1.0, -10.0,-4.0, 1E-10, 2000.0)\n", "overShootLimit , exitflag_os = vehicle1.findOverShootLimitD2(2400.0, 1.0, -10.0,-4.0, 1E-10, 2000.0)\n", "\n", "print(\"Target apoapis: 2000 km\")\n", "print(\"----------------\")\n", "print(underShootLimit, exitflag_us)\n", "print(overShootLimit, exitflag_os)\n", "print(\"----------------\")" ] }, { "cell_type": "markdown", "id": "99510509", "metadata": {}, "source": [ "Propagate an entry trajectory at mid-corridor" ] }, { "cell_type": "code", "execution_count": 4, "id": "aaf13046", "metadata": {}, "outputs": [], "source": [ "# Set planet.h_low to 10 km, if vehicle dips below this level\n", "# trajctory is terminated.\n", "planet.h_low=10.0E3\n", "\n", "# Set target orbit = 2000 km x 2000 km, tolerance = 20 km\n", "# target apo intentionally set to slightly higher value to account for bias in guidance\n", "vehicle1.setTargetOrbitParams(200.0, 2000.0, 20.0)\n", "\n", "# Set entry phase parameters\n", "# v_switch_kms = 2.0, lowAlt_km = 20.0, \n", "# numPoints_lowAlt = 101, hdot_threshold = -150.0 m/s.\n", "# These are somewhat arbitary based on experience.\n", "vehicle1.setDragEntryPhaseParams(2.0, 20.0, 101, -150.0)\n", "\n", "# Set beta_1 and beta_ratio\n", "vehicle1.setDragModulationVehicleParams(20, 7.5)\n", "\n", "# Set vehicle initial state\n", "vehicle1.setInitialState(150.0,-6.22,23.16,10.8191,89.9982,-5.20,0.0,0.0)\n", "# Propogate a single vehicle trajectory\n", "vehicle1.propogateGuidedEntryD2(1.0,1.0,0.1,2400.0)" ] }, { "cell_type": "code", "execution_count": 6, "id": "1eabdb60", "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt" ] }, { "cell_type": "code", "execution_count": 10, "id": "d0b439d1", "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "The PostScript backend does not support transparency; partially transparent artists will be rendered opaque.\n" ] }, { "data": { "image/png": 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.figure(figsize=(8, 3))\n", "plt.rc('font',family='Times New Roman')\n", "params = {'mathtext.default': 'regular' }\n", "plt.rcParams.update(params)\n", "\n", "plt.subplot(1, 2, 1)\n", "plt.plot(vehicle1.t_step_array[1:], vehicle1.hdot_array[1:], 'm-', linewidth=2.0)\n", "\n", "plt.scatter(vehicle1.t_step_array[np.where(vehicle1.hdot_array[1:]>-150)[0][0]],\n", " vehicle1.hdot_array[np.where(vehicle1.hdot_array[1:]>-150)[0][0]],marker=\"D\", s=30, color='xkcd:green', zorder=100, label='Density estimation cut-off')\n", "plt.scatter(vehicle1.t_switch, vehicle1.hdot_array[np.where(vehicle1.t_step_array>vehicle1.t_switch)[0][0]], marker=\"o\", s=30, color='xkcd:bright red', zorder=100, label='Jettison event')\n", "plt.ylabel('Altitude rate, m/s',fontsize=12)\n", "plt.xlabel('Time, min',fontsize=12)\n", "ax=plt.gca()\n", "ax.tick_params(direction='in')\n", "ax.yaxis.set_ticks_position('both')\n", "ax.xaxis.set_ticks_position('both')\n", "ax.tick_params(axis='x',labelsize=12)\n", "ax.tick_params(axis='y',labelsize=12)\n", "plt.grid(linestyle='dotted', linewidth=0.5)\n", "plt.legend(loc='lower right', fontsize=10)\n", "plt.axhline(y=-150, linewidth=1.0, linestyle='dashed')\n", "\n", "plt.subplot(1, 2, 2)\n", "plt.plot(vehicle1.t_min_full, vehicle1.h_km_full, 'b-', linewidth=2.0)\n", "\n", "plt.scatter(vehicle1.t_step_array[np.where(vehicle1.hdot_array[1:]>-150)[0][0]],\n", " vehicle1.h_step_array[np.where(vehicle1.hdot_array[1:]>-150)[0][0]],marker=\"D\", s=30, color='xkcd:green', zorder=100, label='Density estimation cut-off')\n", "plt.scatter(vehicle1.t_switch, vehicle1.h_switch, marker=\"o\", s=30, color='xkcd:bright red', zorder=100, label='Jettison event')\n", "\n", "plt.xlabel('Time, min',fontsize=12)\n", "plt.ylabel('Altitude, km',fontsize=12)\n", "plt.legend(loc='upper center', fontsize=10)\n", "ax=plt.gca()\n", "ax.tick_params(direction='in')\n", "ax.yaxis.set_ticks_position('both')\n", "ax.xaxis.set_ticks_position('both')\n", "ax.tick_params(axis='x',labelsize=12)\n", "ax.tick_params(axis='y',labelsize=12)\n", "plt.grid(linestyle='dotted', linewidth=0.5)\n", "\n", "\n", "\n", "plt.savefig('../../../data/mdpi-aerospace/smallsat-mission-concepts/venus/venus-smallsat-guidance-schematic.png', dpi= 300,bbox_inches='tight')\n", "plt.savefig('../../../data/mdpi-aerospace/smallsat-mission-concepts/venus/venus-smallsat-guidance-schematic.pdf', dpi=300,bbox_inches='tight')\n", "plt.savefig('../../../data/mdpi-aerospace/smallsat-mission-concepts/venus/venus-smallsat-guidance-schematic.eps', dpi=300,bbox_inches='tight')\n", "\n", "\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": 8, "id": "f4171a3f", "metadata": {}, "outputs": [ { "data": { "text/plain": [ "106.99999999999991" ] }, "execution_count": 8, "metadata": {}, "output_type": "execute_result" } ], "source": [ "vehicle1.t_switch*60" ] }, { "cell_type": "code", "execution_count": 9, "id": "b84743fd", "metadata": {}, "outputs": [ { "data": { "text/plain": [ "80.00000000000001" ] }, "execution_count": 9, "metadata": {}, "output_type": "execute_result" } ], "source": [ "vehicle1.t_step_array[np.where(vehicle1.hdot_array[1:]>-150)[0][0]]*60" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.9.16" } }, "nbformat": 4, "nbformat_minor": 5 }